cmake_minimum_required(VERSION 3.0.2)
project(midas_cpp)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  rospy
  sensor_msgs
  std_msgs
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

list(APPEND CMAKE_PREFIX_PATH "~/libtorch")
list(APPEND CMAKE_PREFIX_PATH "/usr/local/lib/python3.6/dist-packages/torch/lib")
list(APPEND CMAKE_PREFIX_PATH "/usr/local/lib/python2.7/dist-packages/torch/lib")

if(NOT EXISTS "~/libtorch")
    if (EXISTS "/usr/local/lib/python3.6/dist-packages/torch")     
        include_directories(/usr/local/include) 
        include_directories(/usr/local/lib/python3.6/dist-packages/torch/include/torch/csrc/api/include)
        include_directories(/usr/local/lib/python3.6/dist-packages/torch/include)

        link_directories(/usr/local/lib)
        link_directories(/usr/local/lib/python3.6/dist-packages/torch/lib)

        set(CMAKE_PREFIX_PATH /usr/local/lib/python3.6/dist-packages/torch)
        set(Boost_USE_MULTITHREADED ON)
        set(Torch_DIR /usr/local/lib/python3.6/dist-packages/torch)
            
    elseif (EXISTS "/usr/local/lib/python2.7/dist-packages/torch")
    
        include_directories(/usr/local/include) 
        include_directories(/usr/local/lib/python2.7/dist-packages/torch/include/torch/csrc/api/include)
        include_directories(/usr/local/lib/python2.7/dist-packages/torch/include)

        link_directories(/usr/local/lib)
        link_directories(/usr/local/lib/python2.7/dist-packages/torch/lib)

        set(CMAKE_PREFIX_PATH /usr/local/lib/python2.7/dist-packages/torch)
        set(Boost_USE_MULTITHREADED ON)
        set(Torch_DIR /usr/local/lib/python2.7/dist-packages/torch)
    endif()
endif()
        


find_package(Torch REQUIRED)
find_package(OpenCV REQUIRED)
include_directories( ${OpenCV_INCLUDE_DIRS} )

add_executable(midas_cpp src/main.cpp)
target_link_libraries(midas_cpp "${TORCH_LIBRARIES}" "${OpenCV_LIBS} ${catkin_LIBRARIES}")
set_property(TARGET midas_cpp PROPERTY CXX_STANDARD 14)



###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES midas_cpp
#  CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/midas_cpp.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/midas_cpp_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_midas_cpp.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

add_custom_command(
        TARGET midas_cpp POST_BUILD
        COMMAND ${CMAKE_COMMAND} -E copy
        ${CMAKE_CURRENT_BINARY_DIR}/midas_cpp
        ${CMAKE_SOURCE_DIR}/midas_cpp
)